EP1182619B1 - Procédé et appareil pour le rendu d'image tridimensionnelle d'un organe du corps - Google Patents

Procédé et appareil pour le rendu d'image tridimensionnelle d'un organe du corps Download PDF

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Publication number
EP1182619B1
EP1182619B1 EP01307001.6A EP01307001A EP1182619B1 EP 1182619 B1 EP1182619 B1 EP 1182619B1 EP 01307001 A EP01307001 A EP 01307001A EP 1182619 B1 EP1182619 B1 EP 1182619B1
Authority
EP
European Patent Office
Prior art keywords
map
image
heart
catheter
probe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01307001.6A
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German (de)
English (en)
Other versions
EP1182619A2 (fr
EP1182619A3 (fr
Inventor
Yaron Keidar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Biosense Webster Inc
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Biosense Webster Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Biosense Webster Inc filed Critical Biosense Webster Inc
Priority to EP15173397.9A priority Critical patent/EP2942756A3/fr
Publication of EP1182619A2 publication Critical patent/EP1182619A2/fr
Publication of EP1182619A3 publication Critical patent/EP1182619A3/fr
Application granted granted Critical
Publication of EP1182619B1 publication Critical patent/EP1182619B1/fr
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Expired - Lifetime legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5269—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving detection or reduction of artifacts
    • A61B8/5276—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving detection or reduction of artifacts due to motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/318—Heart-related electrical modalities, e.g. electrocardiography [ECG]
    • A61B5/346—Analysis of electrocardiograms
    • A61B5/349—Detecting specific parameters of the electrocardiograph cycle
    • A61B5/352—Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7203—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal
    • A61B5/7207—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal of noise induced by motion artifacts
    • A61B5/721—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal of noise induced by motion artifacts using a separate sensor to detect motion or using motion information derived from signals other than the physiological signal to be measured
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/503—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of the heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0883—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the heart
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30048—Heart; Cardiac

Definitions

  • U.S. Patents 5,471,982 and 5,391,199 describe a catheter that includes both electrodes for sensing cardiac electrical activity and miniature coils for determining the position of the catheter relative to an externally-applied magnetic field.
  • a cardiologist can collect data from a set of sampled points in the heart within a short period of time, by measuring the electrical activity at a plurality of locations and determining the spatial coordinates of the locations. Locations of the mapping catheter within the heart can be superimposed on a 3D reconstruction of an image of the heart, such as an ultrasound image, acquired prior to or during the catheter study. Color codes are used to represent electrical activity sensed by the catheter.
  • a position-sensing catheter is used to generate a 3D geometrical map of the internal surface of a heart chamber of a subject.
  • a 3D diagnostic image of the heart is captured in conjunction with generating the 3D map, typically either before or concurrently with the mapping.
  • the image and map are brought into mutual registration, and diagnostic information from the image, such as perfusion information, is then marked on the 3D map, preferably in the form of color coding.
  • a physician operating the catheter is able to identify and visualize areas of the heart that are in need of treatment, due to low perfusion, for example.
  • the physician preferably uses the catheter to apply a local invasive therapy, such as laser revascularization, to specific points that are located using the color-coded 3D map.
  • a local diagnostic technique such as a biopsy, may be performed at such specific points.
  • Fig. 1 is a schematic, pictorial illustration of a system 20 for three-dimensional geometrical mapping, imaging and treatment of a heart 24 of a subject 26, in accordance with a preferred embodiment of the present invention.
  • System 20 comprises an elongate probe, preferably a catheter 30, which is inserted by a user 22 through a vein or artery of the subject into a chamber of the heart.
  • Catheter 30 preferably comprises at least one position sensor (not shown in the figures), most preferably located near the catheter's distal tip.
  • the position sensor preferably comprises an electromagnetic sensor, which is mounted within the catheter by any suitable method, for example, using polyurethane glue or the like.
  • the sensor is electrically connected to an electromagnetic sensor cable, which extends through the catheter body and into a control handle of the catheter.
  • the wires of the sensor cable are connected to a circuit board (not shown), which amplifies the signals received from the electromagnetic sensor and transmits them to a computer housed in a console 34, in a form understandable to the computer.
  • the circuit board preferably contains an EPROM chip, which shuts down the circuit board after the catheter has been used. This prevents the catheter, or at least the electromagnetic sensor, from being used twice. ;
  • axis 72 and apex 74 are identified in the image, as well, and are aligned with the axis and apex of the map.
  • the identification is preferably automatic but may, alternatively or additionally, be carried out or assisted by user 22.
  • Other landmarks and/or fiducial marks in the heart can also be used in performing the alignment.
  • the scale of the image is adjusted so that its dimensions match those of the map as closely as possible.
  • the resolution of the diagnostic information is low, so that imprecision of as much as 10 mm in mutual registration can be tolerated.
  • the registration of the diagnostic image with the geometrical map may be improved using methods of automatic registration such as those described in Appendix A. These methods are optional and are not essential to the present invention.
  • Fine registration between P and Q is then preferably found using a variation of the Iterative Closest Point (ICP) algorithm.
  • ICP Iterative Closest Point

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Image Processing (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
  • Processing Or Creating Images (AREA)
  • Image Generation (AREA)
  • Image Analysis (AREA)

Claims (13)

  1. Procédé de mappage d'une structure (24) dans le corps d'un sujet (26), comprenant :
    un dispositif d'imagerie (48) conçu pour capturer une image tridimensionnelle (3D) (90) de la structure comprenant des informations de diagnostic ;
    une sonde (30), conçue pour être insérée dans la structure (24) de manière à générer une cartographie géométrique 3D (38) de la structure ;
    un processeur (34), couplé à la sonde (30) et au dispositif d'imagerie (48), et conçu pour enregistrer l'image (90) avec la carte (38), de telle sorte que chacun d'une pluralité de points d'image (82) dans l'image soit identifié avec un point de carte correspondant dans la carte ; et
    un affichage (36), couplé pour être commandé par le processeur (34) pour afficher la carte (38), de sorte que les informations de diagnostic associées à chacun des points d'image (82) soient affichées au niveau du point de carte correspondant,
    où le processeur (34) est conçu pour :
    enregistrer (54) l'image (90) avec la carte (38) en appliquant une transformation à au moins un élément parmi l'image et la carte de sorte que, après la transformation, l'image et la carte aient un axe commun (72) et une échelle commune,
    diviser l'image en une pluralité de tranches planes parallèles (92), perpendiculaires à l'axe (72) et mutuellement espacées le long de l'axe, où la pluralité de points d'image (82) sont situés dans les tranches, et
    trouver une coordonnée axiale de chacune des tranches (92) et une coordonnée angulaire de chacun des points d'image (82) situés dans chacune des tranches, et identifier chacun des points d'image au point de carte ayant les mêmes coordonnées axiales et angulaires.
  2. Appareil selon la revendication 1, dans lequel, lorsque la structure (24) comprend une paroi (102) définissant une cavité (100), le processeur (34) est conçu pour identifier chacun des points d'image (82) avec le point de carte en trouvant, au niveau des coordonnées axiales et angulaires, le point d'image (82) qui se situe dans une section de la paroi (102).
  3. Appareil selon la revendication 1 ou la revendication 2, qui est conçu pour fournir une carte (38) colorée pour refléter les informations de diagnostic.
  4. Appareil selon l'une quelconque des revendications 1 à 3, dans lequel les informations de diagnostic :
    concernent le débit sanguin dans la structure (24) ;
    comprennent des données de perfusion locales ;
    comprennent des données métaboliques ;
    concernent l'absorption d'une substance dans le tissu de la structure (24) ; ou
    concernent le mouvement de la structure (24).
  5. Appareil selon l'une quelconque des revendications 1 à 4, dans lequel, pour générer (52) la carte géométrique (38), la sonde (30) est conçue pour être placée en contact avec la structure (24) à une pluralité d'emplacements sur la structure, et le processeur (34) est conçu pour enregistrer les coordonnées des positions de la sonde aux emplacements.
  6. Appareil selon la revendication 5, dans lequel la sonde (30) comprend un capteur de position à utiliser pour déterminer les coordonnées des positions.
  7. Appareil selon l'une quelconque des revendications 1 à 6, dans lequel la structure comprend le coeur (24) du sujet (26), et où la carte géométrique (38) comprend une carte d'une surface endocardique dans un ventricule du coeur.
  8. Appareil selon l'une quelconque des revendications 1 à 7, et comprenant un instrument médical conçu pour exécuter une procédure médicale sur la structure (24) guidée par les informations de diagnostic affichées sur la carte (38).
  9. Appareil selon la revendication 8, dans lequel l'instrument médical est contenu dans la sonde (30), laquelle est conçue pour être utilisée pour exécuter la procédure localement à des emplacements sélectionnés sur la carte géométrique (38).
  10. Appareil selon la revendication 9, dans lequel le processeur (34) est conçu pour marquer sur la carte géométrique (38) les emplacements au niveau desquels la procédure a été exécutée.
  11. Appareil selon l'une quelconque des revendications 8 à 10 destiné à exécuter une procédure thérapeutique.
  12. Appareil selon la revendication 11, dans lequel les informations de diagnostic concernent le débit sanguin dans la structure, pour exécuter une procédure thérapeutique pour améliorer le débit sanguin local.
  13. Appareil selon l'une quelconque des revendications 8 à 10 destiné à exécuter une procédure de diagnostic.
EP01307001.6A 2000-08-18 2001-08-17 Procédé et appareil pour le rendu d'image tridimensionnelle d'un organe du corps Expired - Lifetime EP1182619B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15173397.9A EP2942756A3 (fr) 2000-08-18 2001-08-17 Procédé et appareil de rendu d'image tridimensionnel des organes du corps

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/643,666 US6650927B1 (en) 2000-08-18 2000-08-18 Rendering of diagnostic imaging data on a three-dimensional map
US643666 2000-08-18

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP15173397.9A Division EP2942756A3 (fr) 2000-08-18 2001-08-17 Procédé et appareil de rendu d'image tridimensionnel des organes du corps
EP15173397.9A Division-Into EP2942756A3 (fr) 2000-08-18 2001-08-17 Procédé et appareil de rendu d'image tridimensionnel des organes du corps

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EP1182619A2 EP1182619A2 (fr) 2002-02-27
EP1182619A3 EP1182619A3 (fr) 2004-09-29
EP1182619B1 true EP1182619B1 (fr) 2015-09-23

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EP15173397.9A Withdrawn EP2942756A3 (fr) 2000-08-18 2001-08-17 Procédé et appareil de rendu d'image tridimensionnel des organes du corps
EP01307001.6A Expired - Lifetime EP1182619B1 (fr) 2000-08-18 2001-08-17 Procédé et appareil pour le rendu d'image tridimensionnelle d'un organe du corps

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US (1) US6650927B1 (fr)
EP (2) EP2942756A3 (fr)
JP (1) JP5088994B2 (fr)
KR (1) KR100819717B1 (fr)
AU (1) AU782242B2 (fr)
CA (1) CA2355397C (fr)
ES (1) ES2557152T3 (fr)
HK (1) HK1042366A1 (fr)
IL (1) IL144905A (fr)

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US6650927B1 (en) 2003-11-18
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ES2557152T3 (es) 2016-01-22
HK1042366A1 (zh) 2002-08-09
AU5987701A (en) 2002-02-21
EP2942756A3 (fr) 2016-01-27
CA2355397A1 (fr) 2002-02-18
IL144905A0 (en) 2002-06-30
EP1182619A2 (fr) 2002-02-27
CA2355397C (fr) 2012-02-21
KR100819717B1 (ko) 2008-04-07
AU782242B2 (en) 2005-07-14
JP2002143179A (ja) 2002-05-21
IL144905A (en) 2006-10-31
EP1182619A3 (fr) 2004-09-29
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